mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-17 05:15:25 +03:00
743 lines
26 KiB
C
743 lines
26 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include <math.h>
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#include "platform.h"
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#include "blackbox/blackbox.h"
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#include "build/build_config.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "config/feature.h"
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#include "drivers/system.h"
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#include "fc/config.h"
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#include "fc/fc_main.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_curves.h"
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#include "fc/runtime_config.h"
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#include "io/gps.h"
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#include "io/beeper.h"
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#include "io/motors.h"
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#include "io/vtx.h"
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#include "io/dashboard.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "sensors/sensors.h"
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#include "sensors/gyro.h"
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#include "sensors/acceleration.h"
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#include "rx/rx.h"
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#include "flight/pid.h"
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#include "flight/navigation.h"
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#include "flight/failsafe.h"
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static motorConfig_t *motorConfig;
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static pidProfile_t *pidProfile;
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// true if arming is done via the sticks (as opposed to a switch)
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static bool isUsingSticksToArm = true;
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int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
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int16_t rcCommandSmooth[4];
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uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
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bool isAirmodeActive(void) {
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return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
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}
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void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
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#ifndef BLACKBOX
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#define UNUSED(x) (void)(x)
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UNUSED(adjustmentFunction);
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UNUSED(newValue);
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#else
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if (feature(FEATURE_BLACKBOX)) {
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flightLogEvent_inflightAdjustment_t eventData;
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eventData.adjustmentFunction = adjustmentFunction;
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eventData.newValue = newValue;
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eventData.floatFlag = false;
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blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
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}
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#endif
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}
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void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue) {
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#ifndef BLACKBOX
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UNUSED(adjustmentFunction);
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UNUSED(newFloatValue);
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#else
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if (feature(FEATURE_BLACKBOX)) {
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flightLogEvent_inflightAdjustment_t eventData;
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eventData.adjustmentFunction = adjustmentFunction;
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eventData.newFloatValue = newFloatValue;
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eventData.floatFlag = true;
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blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
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}
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#endif
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}
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bool isUsingSticksForArming(void)
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{
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return isUsingSticksToArm;
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}
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bool areSticksInApModePosition(uint16_t ap_mode)
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{
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return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode;
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}
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throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
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{
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if (feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
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if ((rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle)))
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return THROTTLE_LOW;
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} else {
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if (rcData[THROTTLE] < rxConfig->mincheck)
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return THROTTLE_LOW;
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}
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return THROTTLE_HIGH;
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}
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void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch)
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{
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static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
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static uint8_t rcSticks; // this hold sticks position for command combos
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static uint8_t rcDisarmTicks; // this is an extra guard for disarming through switch to prevent that one frame can disarm it
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uint8_t stTmp = 0;
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int i;
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// ------------------ STICKS COMMAND HANDLER --------------------
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// checking sticks positions
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for (i = 0; i < 4; i++) {
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stTmp >>= 2;
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if (rcData[i] > rxConfig->mincheck)
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stTmp |= 0x80; // check for MIN
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if (rcData[i] < rxConfig->maxcheck)
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stTmp |= 0x40; // check for MAX
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}
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if (stTmp == rcSticks) {
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if (rcDelayCommand < 250)
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rcDelayCommand++;
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} else
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rcDelayCommand = 0;
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rcSticks = stTmp;
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// perform actions
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if (!isUsingSticksToArm) {
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if (IS_RC_MODE_ACTIVE(BOXARM)) {
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rcDisarmTicks = 0;
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// Arming via ARM BOX
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if (throttleStatus == THROTTLE_LOW) {
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if (ARMING_FLAG(OK_TO_ARM)) {
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mwArm();
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}
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}
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} else {
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// Disarming via ARM BOX
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if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive() ) {
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rcDisarmTicks++;
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if (rcDisarmTicks > 3) {
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if (disarm_kill_switch) {
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mwDisarm();
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} else if (throttleStatus == THROTTLE_LOW) {
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mwDisarm();
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}
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}
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}
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}
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}
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if (rcDelayCommand != 20) {
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return;
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}
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if (isUsingSticksToArm) {
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// Disarm on throttle down + yaw
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if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
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if (ARMING_FLAG(ARMED))
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mwDisarm();
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else {
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beeper(BEEPER_DISARM_REPEAT); // sound tone while stick held
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rcDelayCommand = 0; // reset so disarm tone will repeat
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}
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}
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}
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if (ARMING_FLAG(ARMED)) {
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// actions during armed
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return;
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}
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// actions during not armed
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i = 0;
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if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_CE) {
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// GYRO calibration
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gyroSetCalibrationCycles();
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#ifdef GPS
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if (feature(FEATURE_GPS)) {
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GPS_reset_home_position();
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}
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#endif
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#ifdef BARO
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if (sensors(SENSOR_BARO))
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baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
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#endif
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return;
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}
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if (feature(FEATURE_INFLIGHT_ACC_CAL) && (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_HI)) {
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// Inflight ACC Calibration
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handleInflightCalibrationStickPosition();
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return;
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}
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// Multiple configuration profiles
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if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_LO) // ROLL left -> Profile 1
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i = 1;
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else if (rcSticks == THR_LO + YAW_LO + PIT_HI + ROL_CE) // PITCH up -> Profile 2
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i = 2;
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else if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_HI) // ROLL right -> Profile 3
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i = 3;
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if (i) {
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changeProfile(i - 1);
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return;
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}
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if (rcSticks == THR_LO + YAW_LO + PIT_LO + ROL_HI) {
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saveConfigAndNotify();
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}
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if (isUsingSticksToArm) {
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if (rcSticks == THR_LO + YAW_HI + PIT_CE + ROL_CE) {
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// Arm via YAW
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mwArm();
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return;
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}
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}
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if (rcSticks == THR_HI + YAW_LO + PIT_LO + ROL_CE) {
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// Calibrating Acc
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accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
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return;
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}
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if (rcSticks == THR_HI + YAW_HI + PIT_LO + ROL_CE) {
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// Calibrating Mag
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ENABLE_STATE(CALIBRATE_MAG);
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return;
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}
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// Accelerometer Trim
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rollAndPitchTrims_t accelerometerTrimsDelta;
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memset(&accelerometerTrimsDelta, 0, sizeof(accelerometerTrimsDelta));
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bool shouldApplyRollAndPitchTrimDelta = false;
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if (rcSticks == THR_HI + YAW_CE + PIT_HI + ROL_CE) {
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accelerometerTrimsDelta.values.pitch = 2;
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shouldApplyRollAndPitchTrimDelta = true;
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} else if (rcSticks == THR_HI + YAW_CE + PIT_LO + ROL_CE) {
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accelerometerTrimsDelta.values.pitch = -2;
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shouldApplyRollAndPitchTrimDelta = true;
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} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_HI) {
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accelerometerTrimsDelta.values.roll = 2;
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shouldApplyRollAndPitchTrimDelta = true;
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} else if (rcSticks == THR_HI + YAW_CE + PIT_CE + ROL_LO) {
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accelerometerTrimsDelta.values.roll = -2;
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shouldApplyRollAndPitchTrimDelta = true;
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}
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if (shouldApplyRollAndPitchTrimDelta) {
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applyAndSaveAccelerometerTrimsDelta(&accelerometerTrimsDelta);
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rcDelayCommand = 0; // allow autorepetition
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return;
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}
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#ifdef USE_DASHBOARD
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if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_LO) {
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dashboardDisablePageCycling();
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}
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if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
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dashboardEnablePageCycling();
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}
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#endif
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#ifdef VTX
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if (rcSticks == THR_HI + YAW_LO + PIT_CE + ROL_HI) {
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vtxIncrementBand();
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}
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if (rcSticks == THR_HI + YAW_LO + PIT_CE + ROL_LO) {
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vtxDecrementBand();
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}
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if (rcSticks == THR_HI + YAW_HI + PIT_CE + ROL_HI) {
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vtxIncrementChannel();
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}
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if (rcSticks == THR_HI + YAW_HI + PIT_CE + ROL_LO) {
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vtxDecrementChannel();
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}
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#endif
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}
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bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId)
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{
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uint8_t index;
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for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
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modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
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if (modeActivationCondition->modeId == modeId && IS_RANGE_USABLE(&modeActivationCondition->range)) {
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return true;
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}
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}
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return false;
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}
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bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range) {
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if (!IS_RANGE_USABLE(range)) {
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return false;
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}
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uint16_t channelValue = constrain(rcData[auxChannelIndex + NON_AUX_CHANNEL_COUNT], CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX - 1);
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return (channelValue >= 900 + (range->startStep * 25) &&
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channelValue < 900 + (range->endStep * 25));
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}
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void updateActivatedModes(modeActivationCondition_t *modeActivationConditions)
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{
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rcModeActivationMask = 0;
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uint8_t index;
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for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
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modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
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if (isRangeActive(modeActivationCondition->auxChannelIndex, &modeActivationCondition->range)) {
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ACTIVATE_RC_MODE(modeActivationCondition->modeId);
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}
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}
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}
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uint8_t adjustmentStateMask = 0;
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#define MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex) adjustmentStateMask |= (1 << adjustmentIndex)
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#define MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex) adjustmentStateMask &= ~(1 << adjustmentIndex)
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#define IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex) (adjustmentStateMask & (1 << adjustmentIndex))
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// sync with adjustmentFunction_e
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static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
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{
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.adjustmentFunction = ADJUSTMENT_RC_RATE,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_RC_EXPO,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_YAW_RATE,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_YAW_P,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_YAW_I,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_YAW_D,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
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.mode = ADJUSTMENT_MODE_SELECT,
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.data = { .selectConfig = { .switchPositions = 3 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_PITCH_RATE,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_ROLL_RATE,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_PITCH_P,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_PITCH_I,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_PITCH_D,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_ROLL_P,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_ROLL_I,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_ROLL_D,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_RC_RATE_YAW,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_D_SETPOINT,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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},
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{
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.adjustmentFunction = ADJUSTMENT_D_SETPOINT_TRANSITION,
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { .stepConfig = { .step = 1 }}
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}
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};
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#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
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adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
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static void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
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adjustmentState_t *adjustmentState = &adjustmentStates[index];
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if (adjustmentState->config == adjustmentConfig) {
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// already configured
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return;
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}
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adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
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|
adjustmentState->config = adjustmentConfig;
|
|
adjustmentState->timeoutAt = 0;
|
|
|
|
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
|
|
}
|
|
|
|
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
|
|
int newValue;
|
|
|
|
if (delta > 0) {
|
|
beeperConfirmationBeeps(2);
|
|
} else {
|
|
beeperConfirmationBeeps(1);
|
|
}
|
|
switch(adjustmentFunction) {
|
|
case ADJUSTMENT_RC_RATE:
|
|
newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in serial_cli.c
|
|
controlRateConfig->rcRate8 = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue);
|
|
break;
|
|
case ADJUSTMENT_RC_EXPO:
|
|
newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
|
|
controlRateConfig->rcExpo8 = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue);
|
|
break;
|
|
case ADJUSTMENT_THROTTLE_EXPO:
|
|
newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
|
|
controlRateConfig->thrExpo8 = newValue;
|
|
generateThrottleCurve(controlRateConfig, motorConfig);
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
|
|
break;
|
|
case ADJUSTMENT_PITCH_ROLL_RATE:
|
|
case ADJUSTMENT_PITCH_RATE:
|
|
newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
|
|
controlRateConfig->rates[FD_PITCH] = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
|
|
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
|
|
break;
|
|
}
|
|
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
|
|
case ADJUSTMENT_ROLL_RATE:
|
|
newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
|
|
controlRateConfig->rates[FD_ROLL] = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
|
|
break;
|
|
case ADJUSTMENT_YAW_RATE:
|
|
newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
|
|
controlRateConfig->rates[FD_YAW] = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
|
|
break;
|
|
case ADJUSTMENT_PITCH_ROLL_P:
|
|
case ADJUSTMENT_PITCH_P:
|
|
newValue = constrain((int)pidProfile->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
|
|
pidProfile->P8[PIDPITCH] = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
|
|
|
|
if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
|
|
break;
|
|
}
|
|
// follow though for combined ADJUSTMENT_PITCH_ROLL_P
|
|
case ADJUSTMENT_ROLL_P:
|
|
newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
|
|
pidProfile->P8[PIDROLL] = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
|
|
break;
|
|
case ADJUSTMENT_PITCH_ROLL_I:
|
|
case ADJUSTMENT_PITCH_I:
|
|
newValue = constrain((int)pidProfile->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
|
|
pidProfile->I8[PIDPITCH] = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
|
|
|
|
if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
|
|
break;
|
|
}
|
|
// follow though for combined ADJUSTMENT_PITCH_ROLL_I
|
|
case ADJUSTMENT_ROLL_I:
|
|
newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
|
|
pidProfile->I8[PIDROLL] = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
|
|
break;
|
|
case ADJUSTMENT_PITCH_ROLL_D:
|
|
case ADJUSTMENT_PITCH_D:
|
|
newValue = constrain((int)pidProfile->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
|
|
pidProfile->D8[PIDPITCH] = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
|
|
|
|
if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
|
|
break;
|
|
}
|
|
// follow though for combined ADJUSTMENT_PITCH_ROLL_D
|
|
case ADJUSTMENT_ROLL_D:
|
|
newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
|
|
pidProfile->D8[PIDROLL] = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
|
|
break;
|
|
case ADJUSTMENT_YAW_P:
|
|
newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
|
|
pidProfile->P8[PIDYAW] = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
|
|
break;
|
|
case ADJUSTMENT_YAW_I:
|
|
newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
|
|
pidProfile->I8[PIDYAW] = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
|
|
break;
|
|
case ADJUSTMENT_YAW_D:
|
|
newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
|
|
pidProfile->D8[PIDYAW] = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
|
|
break;
|
|
case ADJUSTMENT_RC_RATE_YAW:
|
|
newValue = constrain((int)controlRateConfig->rcYawRate8 + delta, 0, 300); // FIXME magic numbers repeated in serial_cli.c
|
|
controlRateConfig->rcYawRate8 = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
|
|
break;
|
|
case ADJUSTMENT_D_SETPOINT:
|
|
newValue = constrain((int)pidProfile->dtermSetpointWeight + delta, 0, 254); // FIXME magic numbers repeated in serial_cli.c
|
|
pidProfile->dtermSetpointWeight = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT, newValue);
|
|
break;
|
|
case ADJUSTMENT_D_SETPOINT_TRANSITION:
|
|
newValue = constrain((int)pidProfile->setpointRelaxRatio + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
|
|
pidProfile->setpointRelaxRatio = newValue;
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_D_SETPOINT_TRANSITION, newValue);
|
|
break;
|
|
default:
|
|
break;
|
|
};
|
|
}
|
|
|
|
static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
|
|
{
|
|
bool applied = false;
|
|
|
|
switch(adjustmentFunction) {
|
|
case ADJUSTMENT_RATE_PROFILE:
|
|
if (getCurrentControlRateProfile() != position) {
|
|
changeControlRateProfile(position);
|
|
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position);
|
|
applied = true;
|
|
}
|
|
break;
|
|
}
|
|
|
|
if (applied) {
|
|
beeperConfirmationBeeps(position + 1);
|
|
}
|
|
}
|
|
|
|
#define RESET_FREQUENCY_2HZ (1000 / 2)
|
|
|
|
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig)
|
|
{
|
|
uint8_t adjustmentIndex;
|
|
uint32_t now = millis();
|
|
|
|
bool canUseRxData = rxIsReceivingSignal();
|
|
|
|
|
|
for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
|
|
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
|
|
|
|
if (!adjustmentState->config) {
|
|
continue;
|
|
}
|
|
uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
|
|
if (adjustmentFunction == ADJUSTMENT_NONE) {
|
|
continue;
|
|
}
|
|
|
|
int32_t signedDiff = now - adjustmentState->timeoutAt;
|
|
bool canResetReadyStates = signedDiff >= 0L;
|
|
|
|
if (canResetReadyStates) {
|
|
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
|
|
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
|
|
}
|
|
|
|
if (!canUseRxData) {
|
|
continue;
|
|
}
|
|
|
|
uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
|
|
|
|
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
|
|
int delta;
|
|
if (rcData[channelIndex] > rxConfig->midrc + 200) {
|
|
delta = adjustmentState->config->data.stepConfig.step;
|
|
} else if (rcData[channelIndex] < rxConfig->midrc - 200) {
|
|
delta = 0 - adjustmentState->config->data.stepConfig.step;
|
|
} else {
|
|
// returning the switch to the middle immediately resets the ready state
|
|
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
|
|
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
|
|
continue;
|
|
}
|
|
if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
|
|
continue;
|
|
}
|
|
|
|
applyStepAdjustment(controlRateConfig,adjustmentFunction,delta);
|
|
pidInitConfig(pidProfile);
|
|
} else if (adjustmentState->config->mode == ADJUSTMENT_MODE_SELECT) {
|
|
uint16_t rangeWidth = ((2100 - 900) / adjustmentState->config->data.selectConfig.switchPositions);
|
|
uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
|
|
|
|
applySelectAdjustment(adjustmentFunction, position);
|
|
}
|
|
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
|
|
}
|
|
}
|
|
|
|
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
|
|
{
|
|
uint8_t index;
|
|
|
|
for (index = 0; index < MAX_ADJUSTMENT_RANGE_COUNT; index++) {
|
|
adjustmentRange_t *adjustmentRange = &adjustmentRanges[index];
|
|
|
|
if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {
|
|
|
|
const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
|
|
|
|
configureAdjustment(adjustmentRange->adjustmentIndex, adjustmentRange->auxSwitchChannelIndex, adjustmentConfig);
|
|
}
|
|
}
|
|
}
|
|
|
|
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
|
|
return MIN(ABS(rcData[axis] - midrc), 500);
|
|
}
|
|
|
|
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, motorConfig_t *motorConfigToUse, pidProfile_t *pidProfileToUse)
|
|
{
|
|
motorConfig = motorConfigToUse;
|
|
pidProfile = pidProfileToUse;
|
|
|
|
isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM);
|
|
}
|
|
|
|
void resetAdjustmentStates(void)
|
|
{
|
|
memset(adjustmentStates, 0, sizeof(adjustmentStates));
|
|
}
|
|
|